TY - GEN
T1 - Collision recovery control of a foldable quadrotor
AU - Patnaik, Karishma
AU - Mishra, Shatadal
AU - Chase, Zachary
AU - Zhang, Wenlong
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/12
Y1 - 2021/7/12
N2 - Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial missions is desirable to prevent loss of the vehicle and/or payload. We address this problem by proposing a novel foldable quadrotor system which can sustain collisions and recover safely. The quadrotor is designed with integrated mechanical compliance using a torsional spring such that the impact time is increased and the net impact force on the main body is decreased. The post-collision dynamics is analysed and a recovery controller is proposed which stabilizes the system to a hovering location without additional collisions. Flight test results on the proposed and a conventional quadrotor demonstrate that for the former, integrated spring-damper characteristics reduce the rebound velocity and lead to simple recovery control algorithms in the event of unintended collisions as compared to a rigid quadrotor of the same dimension.
AB - Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial missions is desirable to prevent loss of the vehicle and/or payload. We address this problem by proposing a novel foldable quadrotor system which can sustain collisions and recover safely. The quadrotor is designed with integrated mechanical compliance using a torsional spring such that the impact time is increased and the net impact force on the main body is decreased. The post-collision dynamics is analysed and a recovery controller is proposed which stabilizes the system to a hovering location without additional collisions. Flight test results on the proposed and a conventional quadrotor demonstrate that for the former, integrated spring-damper characteristics reduce the rebound velocity and lead to simple recovery control algorithms in the event of unintended collisions as compared to a rigid quadrotor of the same dimension.
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U2 - 10.1109/AIM46487.2021.9517341
DO - 10.1109/AIM46487.2021.9517341
M3 - Conference contribution
AN - SCOPUS:85114960595
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 418
EP - 423
BT - 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
Y2 - 12 July 2021 through 16 July 2021
ER -